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/* Author: Ioan Sucan */

#include <moveit/robot_model/fixed_joint_model.h>

namespace moveit
{
namespace core
{
FixedJointModel::FixedJointModel(const std::string& name) : JointModel(name)
{
  type_ = FIXED;
}

unsigned int FixedJointModel::getStateSpaceDimension() const
{
  return 0;
}

void FixedJointModel::getVariableDefaultPositions(double* values, const Bounds& bounds) const
{
}

void FixedJointModel::getVariableRandomPositions(random_numbers::RandomNumberGenerator& rng, double* values,
                                                 const Bounds& bounds) const
{
}

void FixedJointModel::getVariableRandomPositionsNearBy(random_numbers::RandomNumberGenerator& rng, double* values,
                                                       const Bounds& bounds, const double* seed,
                                                       const double distance) const
{
}

bool FixedJointModel::enforcePositionBounds(double* values, const Bounds& bounds) const
{
  return false;
}

bool FixedJointModel::satisfiesPositionBounds(const double* values, const Bounds& bounds, double margin) const
{
  return true;
}

double FixedJointModel::distance(const double* values1, const double* values2) const
{
  return 0.0;
}

double FixedJointModel::getMaximumExtent(const Bounds& other_bounds) const
{
  return 0.0;
}

void FixedJointModel::interpolate(const double* from, const double* to, const double t, double* state) const
{
}

void FixedJointModel::computeTransform(const double* /* joint_values */, Eigen::Isometry3d& transf) const
{
  transf.setIdentity();
}

void FixedJointModel::computeVariablePositions(const Eigen::Isometry3d& /* transform */,
                                               double* /* joint_values */) const
{
}

}  // end of namespace core
}  // end of namespace moveit
